Re: Navigation with Rtabmap and Stereo Camera

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10675.html

Sorry actually i mean that the point clouds is from stereo_inertial_node that is "/stereo_inertial_publisher/stereo/depth". So in rtabmap_util/obstacle detection i used:

<remap from="cloud" to="/stereo_inertial_publisher/stereo/points"/>

 .
From the rqt_graph, i am clearly see that /planner/move_base subscribed to rtabmap/grid_map and its publishing the topic cmd_vel but i am not getting any data on cmd_vel. Attached is the rqt_graph.png.
Can you please have a look to this and telll me where i am doing a mistake?. Below that i just used the rtabmap.launch with localization:=true. nag my navigation file is bnelow:

<launch>
    <!-- ROS navigation stack move_base -->
    <group ns="planner">
        <!-- Remap topics for move_base -->
        <remap from="openni_points" to="/planner_cloud"/>
        <remap from="map" to="/rtabmap/grid_map"/>
        <remap from="move_base_simple/goal" to="/planner_goal"/>

        <!-- Launch move_base node -->
        <node pkg="move_base" type="move_base" name="move_base" respawn="false" output="screen">
            <rosparam file="$(find hada_navigation)/config/costmap_common_params_1.yaml" command="load" ns="global_costmap"/>
            <rosparam file="$(find hada_navigation)/config/costmap_common_params_1.yaml" command="load" ns="local_costmap"/>
            <rosparam file="$(find hada_navigation)/config/local_costmap_params_1.yaml" command="load"/>
            <rosparam file="$(find hada_navigation)/config/global_costmap_params_1.yaml" command="load" ns="global_costmap"/>
            <rosparam file="$(find hada_navigation)/config/base_local_planner_params_1.yaml" command="load"/>

            <remap from="/planner/cmd_vel" to="/cmd_vel"/>
            <remap from="/planner/odom" to="/rtabmap/odom"/>
             
        </node>

        <!-- Set command velocity parameter -->
        <param name="cmd_vel" value="10"/>
    </group>


    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load /obstacles_detection stereo_nodelet">
        <remap from="cloud" to="/stereo_inertial_publisher/stereo/points"/>
        <remap from="obstacles" to="/planner_cloud"/>
        <param name="frame_id" type="string" value="base_footprint"/>
        <param name="map_frame_id" type="string" value="map"/>
        <param name="wait_for_transform" type="bool" value="true"/>
        <param name="Grid/MinClusterSize" type="int" value="20"/>
        <param name="Grid/MaxObstacleHeight" type="double" value="0.0"/>
    </node>
</launch>

rqt_Graph: rosgraph.png